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This paper describes a benchmark task for evaluating the usability of haptic environments for a shape perception task. The task measures the ease with which observers can recognize members of a standard set of five shapes defined by Koenderink. Median time for 12 participants to recognize these shapes with the PHANToM was 23 seconds. This recognition time is within the range for shape recognition of physical objects using one finger but far slower than recognition using the whole hand. The results suggest haptic environments must provide multiple points of contact with an object for rapid performance of shape recognition.

A shape recognition benchmark for evaluating usability of a haptic environment